Navigation Stack - could not get robot pose
Hi there, I just tried to use the navigation stack package. I have a lidar, formed a map (though in poor quality) with hector map, I followed this and put the map in for navigation. except for the odom, I tried with laser_scan_matcher (this).
However, I got these while roslaunch the move_base.launch, and the pose of the robot/ costmap local could not be found...
[ WARN] [1549943317.338789222]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
[ INFO] [1549943318.632678731]: Recovery behavior will clear layer obstacles
[ INFO] [1549943318.731042550]: Recovery behavior will clear layer obstacles
[ WARN] [1549943318.891879203]: Map update loop missed its desired rate of 5.0000Hz... the loop actually took 0.4183 seconds
[ WARN] [1549943416.070164221]: Costmap2DROS transform timeout. Current time: 1549943416.0697, global_pose stamp: 1549943415.6726, tolerance: 0.3000
[ WARN] [1549943416.071357157]: Could not get robot pose, cancelling reconfiguration
The robot_configuration.launch:
<launch>
<node name="ydlidar_node" pkg="ydlidar" type="ydlidar_node" output="screen">
<param name="port" type="string" value="/dev/ydlidar"/>
<param name="baudrate" type="int" value="115200"/>
<param name="frame_id" type="string" value="base_laser"/>
<param name="angle_fixed" type="bool" value="true"/>
<param name="low_exposure" type="bool" value="false"/>
<param name="heartbeat" type="bool" value="false"/>
<param name="resolution_fixed" type="bool" value="true"/>
<param name="angle_min" type="double" value="-180" />
<param name="angle_max" type="double" value="0" />
<param name="range_min" type="double" value="0.08" />
<param name="range_max" type="double" value="16.0" />
<param name="ignore_array" type="string" value="" />
<param name="samp_rate" type="int" value="9"/>
<param name="frequency" type="double" value="7"/>
</node>
<node pkg="tf" type="static_transform_publisher" name="map_to_odom"
args="0.0 0.0 0.0 0 0 0.0 /map /odom 40" />
<node pkg="tf" type="static_transform_publisher" name="odom_to_basefootprint"
args="0.0 0.0 0.0 0 0 0.0 /odom /base_footprint 40" />
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link"
args="0.2245 0.0 0.2 0.0 0.0 0.0 /base_footprint /base_link 40" />
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">
<param name="base_frame" value="base_footprint"/>
<param name="_fixed_frame" value="map"/>
<param name="use_imu" value="false"/>
<param name="use_odom" value="false"/>
<param name="use_vel" value="false"/>
<param name="max_iterations" value="10"/>
<param name="publish_tf" value="false"/>
<param name="publish_pose" value="true"/>
</node>
<node pkg="mobilet_setup_tf" type="tf_broadcaster" name="tf_broadcaster"/>
<node pkg="rviz" type="rviz" name="rviz1"
args="-d $(find hector_slam_launch)/rviz_cfg/mapping_demo.rviz"/>
</launch>
and the move_base.launch
<launch>
<master auto="start"/>
<!-- Run the map server -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find mobilet_2dnav)/maps/office_map_MoBiLET.yaml"/>
<!--- Run AMCL -->
<include file="$(find amcl)/examples/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find mobilet_2dnav)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find mobilet_2dnav)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find mobilet_2dnav)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find mobilet_2dnav)/param/global_costmap_params.yaml" command="load" />
<rosparam file="$(find mobilet_2dnav)/param/base_local_planner_params.yaml" command ...
You'll get that error until you provide the robot pose so make sure you either provide initial pose through RVIZ or do it in code/YAML(there is some way to do it in launch I think but I just use initial pose button in RVIZ).
Thanks billy, I have tried with providing the pose, but the tf is not moving accordingly..(tf also fails to move when the lidar moves) I posed to the edit part for the errors and the RVIZ, would you mind looking into it?